The BRICS component model: a model-based development paradigm for complex robotics software systems

Authors:
Herman Bruyninckx;Markus Klotzbücher;Nico Hochgeschwender;Gerhard Kraetzschmar;Luca Gherardi;Davide Brugali
Affiliations:
Katholieke Universiteit Leuven, Leuven, Belgium;Katholieke Universiteit Leuven, Leuven, Belgium;Bonn-Rhine-Sieg University of Applied Sciences, Germany;Bonn-Rhine-Sieg University of Applied Sciences, Germany;University of Bergamo, Bergamo, Italy;University of Bergamo, Bergamo, Italy
Venue:
Proceedings of the 28th Annual ACM Symposium on Applied Computing
Year:
2013

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Abstract

Because robotic systems get more complex all the time, developers around the world have, during the last decade, created component-based software frameworks (Orocos, Open-RTM, ROS, OPRoS, SmartSoft) to support the development and reuse of "large grained" pieces of robotics software. This paper introduces the BRICS Component Model (BCM) to provide robotics developers with a set of guidelines, metamodels and tools for structuring as much as possible the development of, both, individual components and component-based architectures, using one or more of the aforementioned software frameworks at the same time, without introducing any framework- or application-specific details. The BCM is built upon two complementary paradigms: the "5Cs" (separation of concerns between the development aspects of Computation, Communication, Coordination, Configuration and Composition) and the meta-modeling approach from Model-Driven Engineering.